Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax benefit at the federal statutory rate	$ (23,073)	$ (18,404)
State income taxes, net of federal income tax benefit	(5,296)	(3,008)
Nondeductible stock-based compensation	(4,804)	1,049
Expiration of net operating loss and research and development credits	3,084	3,244
Change in valuation allowance	36,441	15,092
Other permanent items	(5,658)	1,311
Research and development credits	(2,691)	(1,110)
Return to provision adjustments	829	855
Other, net	451	1,009
Provision for income taxes	$ (717)	$ 38